| 超高压输电线路巡检机器人两种越障定位方法比较 |
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| 引用本文： | 孙翠莲,王洪光,赵明扬.超高压输电线路巡检机器人两种越障定位方法比较[J].中国机械工程,2007,18(1):4-8. |
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| 作者姓名： | 孙翠莲 王洪光 赵明扬 |
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| 作者单位： | 1. 中国科学院沈阳自动化研究所机器人学重点实验室,沈阳,110016;中国科学院研究生院,北京,100039
2. 中国科学院沈阳自动化研究所机器人学重点实验室,沈阳,110016 |
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| 基金项目： | 国家高技术研究发展计划(863计划) |
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| 摘 要： | 将两种基于传感器信息的导线定位方法的特点和差异进行了分析和对比，得出方法Ⅱ的解算能力强于方法Ⅰ的解算能力，但由于方法Ⅱ的定位精度低于方法Ⅰ的定位精度，因此，选用方法Ⅰ进行野外作业。
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| 关 键 词： | 定位 越障 巡检机器人 超高压输电线路 |
| 文章编号： | 1004-132X（2007）01-0004-05 |
| 修稿时间： | 2005-11-16 |
Comparisons in Localization Methods during Obstacle Navigation of Inspection Robot for Power Transmission Lines |
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| Sun Cuilian,Wang Hongguang,Zhao Mingyang.Comparisons in Localization Methods during Obstacle Navigation of Inspection Robot for Power Transmission Lines[J].China Mechanical Engineering,2007,18(1):4-8. |
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| Authors: | Sun Cuilian Wang Hongguang Zhao Mingyang |
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| Affiliation: | 1. Robotics Laboratory, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016 ; 2. Graduate School of the Chinese Academy of Sciences, Beijing, 100039 |
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| Abstract: | Two lines localization methods were analyzed and compared based on information of sensors and it was found the resolving ability of second method is better than the first one. However, the positioning accuracy of the first method is higher than the second one so that the first method is chosen to be used in field operation. |
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| Keywords: | localization obstacle navigation inspection robot high- voltage power transmission lines |
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